chaiguotong / spotmicro

SpotMicro

Most computation runs on PC or laptop, and send command to the robot through wifi.

dependency:

I use ROS melodic and gazebo-9 on Ubuntu 18.04. I think it's compatible with ROS kinetic.

Install

cd catkin_ws/src
git clone --branch v04 https://github.com/hyansuper/spotmicro.git
cd ..
catkin_make

Run

roslaunch spotmicro bringup.launch mode:=[rviz/sim/pi] gait:=[walk/discontinuous]
rostopic pub -r 3 /cmd_vel [tab][tab]
... x: 0.01 ...

to launch it in RViz animation(the default), gazebo simulation or bring up the real robot.
To bring up the real robot, you may need to customize spotmicro/pi_ros_remote.sh and spotmicro/spotmicro/launch/machine.launch files

I implemented two gaits. The walk gait is more natrual, but discontinuous gait is more stable.

Input topic:

• /cmd_vel: control angular and linear velocity just like the turtlesim program.
• /cmd_pose: control the pose(RPY and body heigt) of the body.

You can run the following to control the robot with a Logitech F710 gamepad. The gamepad node will publish msg to the above topics.

roslaunch spotmicro_teleop gamepad.launch

Also, some parameters about the gait can be dynamically reconfigured

rosrun rqt_reconfigure rqt_reconfigure

Output topic:

• /servo_pwm: the Int32MultiArray msg has a data field, specifying the board, channel and PWM signal for each servo. you can subcribe to this topic and send PWM signal to each servo using ESP32 or Raspberry Pi as controller. The default update rate is 30 hz.
  The following is the pseudo code for the controller:

for(i=0; i<msg.data.size(); i+=3):
	board = msg.data[i]
	channel = msg.data[i+1]
	pwm_value = msg.data[i+2]
	pwm.set_address(board)
	pwm.set_pwm(channel, 0, pwm_value)

The servo_driver pkg is meant to be run on a Raspberry Pi as a controller board on the real robot. To compile the pkg on Raspberry Pi, change servo_driver/CMakeLists.txt.pi to servo_driver/CMakeLists.txt.
This pkg is not needed if you only want to try RViz animation or gazebo simulation.

All the other pkg will run on PC.